Merge pull request #123 from UAVCAN/stm32-chibios-18

STM32 ChibiOS 18 support
OpenCyphal-Garage · Apr 19, 2018 · dbd037b · dbd037b
2 parents 9a8b059 + fca6224
commit dbd037b
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Showing 2 changed files with 7 additions and 1 deletion.
diff --git a/libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp b/libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp
@@ -551,7 +551,11 @@ bool CanIface::waitMsrINakBitStateChange(bool target_state)
         ::usleep(1000);
 #endif
 #if UAVCAN_STM32_CHIBIOS
+#ifdef MS2ST
         ::chThdSleep(MS2ST(1));
+#else
+        ::chThdSleep(TIME_MS2I(1));
+#endif
 #endif
 #if UAVCAN_STM32_FREERTOS
         ::osDelay(1);

diff --git a/libuavcan_drivers/stm32/driver/src/uc_stm32_thread.cpp b/libuavcan_drivers/stm32/driver/src/uc_stm32_thread.cpp
@@ -34,8 +34,10 @@ bool BusEvent::wait(uavcan::MonotonicDuration duration)
     {
 # if (CH_KERNEL_MAJOR == 2)
         ret = sem_.waitTimeout((msec > MaxDelayMSec) ? MS2ST(MaxDelayMSec) : MS2ST(msec));
-# else // ChibiOS 3+
+# elif defined(MS2ST) // ChibiOS 3+
         ret = sem_.wait((msec > MaxDelayMSec) ? MS2ST(MaxDelayMSec) : MS2ST(msec));
+# else // ChibiOS 17+
+        ret = sem_.wait(::systime_t((msec > MaxDelayMSec) ? TIME_MS2I(MaxDelayMSec) : TIME_MS2I(msec)));
 # endif
     }
 # if (CH_KERNEL_MAJOR == 2)